travel_time_heuristic.h

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//=================================================================================================
// Copyright (c) 2018, Alexander Stumpf, TU Darmstadt
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#ifndef VIGIR_FOOTSTEP_PLANNING_TRAVEL_TIME_HEURISTIC_H__
#define VIGIR_FOOTSTEP_PLANNING_TRAVEL_TIME_HEURISTIC_H__

#include <vigir_footstep_planning_lib/math.h>

#include <vigir_footstep_planning_plugins/plugins/heuristic_plugin.h>



namespace vigir_footstep_planning
{
class TravelTimeHeuristic
  : public HeuristicPlugin
{
public:
  TravelTimeHeuristic();

  bool loadParams(const vigir_generic_params::ParameterSet& params = vigir_generic_params::ParameterSet()) override;

  double getHeuristicValue(const State& from, const State& to, const State& start, const State& goal) const override;

protected:
  double max_step_dist_x_inv_;
  double max_step_dist_y_inv_;

  double a_sway_inv_, b_sway_inv_, const_sway_time_;
  double a_swing_inv_, b_swing_inv_, const_swing_time_;
};
}

#endif